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Structural Evolution of Central Pattern Generators for Bipedal Walking in 3D Simulation
2006
2006 IEEE International Conference on Systems, Man and Cybernetics
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Anthropomorphic walking for a simulated bipedal robot has been realized by means of artificial evolution of central pattern generator (CPG) networks. ...
The approach has been investigated through full rigid-body dynamics simulations in 3D of a bipedal robot with 14 degrees of freedom. ...
of structural evolution of CPG networks: Two of the three methods introduced in this paper solved the problem of generating gaits for the simulated bipedal robot in 2D and 3D environments. ...
doi:10.1109/icsmc.2006.384387
dblp:conf/smc/WolffPHW06
fatcat:w4mhe7d5brfp5oeqhq3atoj2bq
Theories of bipedal walking: an odyssey
2003
Journal of Biomechanics
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They include: evolution, minimising energy consumption, maturation in children, central pattern generators, linking control and effect, and robots on two legs. ...
In this paper six theories of bipedal walking, and the evidence in support of the theories, are reviewed. ...
Acknowledgements I gratefully acknowledge the financial support of The Wellcome Trust, the South African Medical Research Council, and the National Research Foundation. ...
doi:10.1016/s0021-9290(02)00419-0
pmid:12600342
fatcat:jm7opewivnds5lk4mbvoroj3s4
Facilitating Controller Evolution in Morpho-functional Machines — A Bipedal Case Study
[chapter]
2003
Morpho-functional Machines: The New Species
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Simulations of bipedal walking showed that the evolution of stable gaits can be greatly facilitated by harnessing design solutions inspired by those of biological organisms. ...
It is shown that an appropriate implementation of these components greatly improves the speed of evolution -stable straight line walking is typically achieved in substantially less than 100 generations ...
Torsten Reil is supported by the Guy Newton Scholarship in Zoology, Oxford. We also acknowledge funding through a UCSF grant, University of Oxford. ...
doi:10.1007/978-4-431-67869-4_5
fatcat:xfs5ykfqnjg3tj3bvxuotm4vqm
Central Pattern Generators for Gait Generation in Bipedal Robots
[chapter]
2007
Humanoid Robots: New Developments
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In view of their ability to generate rhythmic output patterns, CPGs are well suited as the basis for bipedal locomotion. ...
to achieve efficient and stable bipedal walking for a simulated robot. ...
Evolutionary optimization of a bipedal gait in a physical robot. Submitted to: IEEE Transactions on Robotics. Zehr, E. P. & Duysens, J. (2004) . ...
doi:10.5772/4873
fatcat:t5z6ueudxzdbrafkx5lcgezxqi
A System for Learning to Locomotion Using Adaptive Oscillators in the Humanoid Robot
2011
Journal of clean energy technologies
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This paper proposes a central pattern generators based control architecture using a frequency adaptive oscillator for learning to locomotion of humanoid robot. ...
Central pattern generators are biological neural networks that can produce coordinated multidimensional rhythmic signals, under the control of simple input signals. ...
CENTRAL PATTERN GENERATORS Studies made on the vertebrates' neural system tend to show that every degree of freedom in the animal's body corresponds to a single neural oscillator. ...
doi:10.7763/ijcte.2011.v3.303
fatcat:rvenxmirejgcvfzwaoueissq4u
Machine Learning Algorithms in Bipedal Robot Control
2012
IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)
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One of such problems is bipedal walking robot control. ...
Guidelines for future research on learning control of bipedal robots are provided in the end. ...
Neural oscillator-based approaches are inspired by central pattern generators (CPGs) which have been identified in the spinal cord of many animals. ...
doi:10.1109/tsmcc.2012.2186565
fatcat:tchoesxg6rc2vkuh7gtlxxfosa
Complex networks of simple neurons for bipedal locomotion
2009
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Recent bio-inspired approaches have made significant progress by using small numbers of tightly coupled neurons, called central pattern generators (CPGs). ...
We show this approach generates controllers de novo that are able to control 3D bipedal locomotion up to 10 meters. ...
CPGs are neural structures observed in the spine of many vertebrates that are believed to be responsible for the generation of cyclical patterns, such as for locomotion control [4] . ...
doi:10.1109/iros.2009.5354077
dblp:conf/iros/AllenF09
fatcat:fs4yjvbfzjh4vphxpqafrhrvye
Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid
2018
Autonomous Robots
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For the walking generator part, we develop a variable-centerof-mass-height ZMP-based bipedal walking pattern generator. ...
challenging open problem of exploiting the passive compliance for the purpose of energy efficient humanoid walking. ...
Shafii et al. utilized central pattern generators to modulate generated bipedal walking trajectories with varying hip height [41] . ...
doi:10.1007/s10514-018-9697-6
fatcat:w2q4lvbdtbhahjmgre6bbzmzp4
A Dynamic Walking Strategy for the Nao Robot Considering Path Planning, CoM and ZMP
2018
International Journal of Engineering and Technology
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We propose a dynamic bipedal walking scheme based on a simulated model of inverted pendulum and using the Zero Moment Point (ZMP) as a control strategy. ...
The strategy was encoded in a NAOqi module in Python, and executed in a Nao V5. The behavior of the robot during the walk demonstrated the success of the strategy. ...
The authors thank the research groups ARMOS and DIGITI for the evaluation carried out on prototypes of ideas and strategies. ...
doi:10.21817/ijet/2018/v10i5/181005021
fatcat:ctnm4lwfbraffjvrcrdy4bn5lu
Dynamic Joint Passivization for Bipedal Locomotion
[chapter]
2011
Biped Robots
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Motion control using a central pattern generator (CPG) has attracted much attention as an effective control mechanism for biped robots to achieve human-like walking (e.g., ; Kotosaka & Schaal (2000) ; ...
simulation), and velocityẋ(t + ∆T),ẏ(t + ∆T) (ż(t + ∆T) for 3D simulation) of each link after motion. ...
doi:10.5772/14588
fatcat:nnmgywbmbfaztgi4ph4lbvqn6i
Morphology independent dynamic locomotion control for virtual characters
2008
2008 IEEE Symposium On Computational Intelligence and Games
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The controllers are simulated in a 3D environment and demonstrated for bipedal, tripedal and snake-like characters. ...
Existing dynamic simulation controllers are often complex to understand and manipulate, and so are of limited use for animators. ...
Bräunl for his advice. ...
doi:10.1109/cig.2008.5035651
dblp:conf/cig/Boeing08
fatcat:eqvo2ny7dnbzbpgodqrugfmjsq
Visualization of a Juvenile Australopithecus afarensis Specimen: Implications for Functional Foot Anatomy
2019
Journal of Biocommunication
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Because bipedal locomotion is one of the earliest characteristics of human functional anatomy to appear in the fossil record, its associated anatomy in early hominins has significant implications for human ...
evolution (Stern, 2000). ...
Edward Abraham of for permission to use patient data from UIC Orthopaedics. Thank you to the excavation team who discovered and preserved the Dikika fossil. ...
doi:10.5210/jbc.v43i2.10229
fatcat:5uhnx7n35vbcrokaaio4gf2ej4
Sensor-Based Programming of Central Pattern Generators in Humanoid Robots
2013
International Journal of Advanced Robotic Systems
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In the present article, a method for generating curvilinear bipedal walking patterns is proposed which is able to generate rhythmic and periodic trajectories for a Nao soccer player robot. ...
To do so, a programmable central pattern generator was used which was inspired from locomotion structures in vertebrate animals. ...
In this paper, a model for programmable central pattern generators capable of generating curvilinear bipedal locomotion patterns is developed. ...
doi:10.5772/55462
fatcat:d2dimra53ngrxcgdjyoows6g5q
Musculoskeletal simulation-based parametric study of optimal gait frequency in biped locomotion
2008
2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
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We choose to systematically study this hypothesis in the specific context of bipedal locomotion. ...
Researchers have hypothesized that animal locomotory patterns seen are consistent with the resonant frequencies endowed by their musculoskeletal structures. ...
In this paper, we will focus on bipedal walking as a prototypical task for the following reasons: (i) It possesses considerable richness in terms of complexity of underlying neuromusculoskeletal structure ...
doi:10.1109/biorob.2008.4762864
fatcat:xjt2nfjebvhh5nuebaoilollim
Evolved Controllers for Simulated Locomotion
[chapter]
2009
Lecture Notes in Computer Science
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No a priori knowledge of the appropriate cycles or patterns of motion is needed. ...
Our approach provides two key features: (a) the topology of the neural network controller gradually grows in size to allow increasingly complex behavior, and (b) the evolutionary process requires only ...
The evolved artificial CPG's generate open-loop patterns that drive joint angles of a bipedal model to show very "natural motion" through a walk cycle. ...
doi:10.1007/978-3-642-10347-6_20
fatcat:74g65awxdfaflm56a5hnmn4shu
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